Automatic apparatus for sewing machines and the like



Nov. 14; 1967 K. D. ADAMS ET AL 3,352,263

AUTOMATIC APPARATUS FOR SEWING MACHINES AND THE LIKE Fig.l

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INVENTORS KENNETH D. ADAMS, BY 0nd EDWARD H. KAY

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K. D. ADAMS ET AL 3,352,263

Nov. 14,1967

AUTOMATIC APPARATUS FOR SEWING MACHINES AND THE LIKE 5 Sheets-Sheet 5Filed Aug. 20, 1965 INVENTORS. H D. ADAMS KENNET 0nd EDWARD H KAY BYGI-buy 2? Y TORNEY Nov. 14, 1967 K. D. ADAMS ET AL 3,352,263

AUTOMATIC APPARATUS FOR SEWING MACHINES AND THE LIKE Filed Aug. 20, 1965WITNESS.- wuad' JCAMA 5 Sheets-Sheet 4 m E I E INVENTORS. KENNETH D.ADAMS, and EDWARD H. KAY

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AUTOMATIC APPARATUS FOR SEWING MACHINES AND THE LIKE 5 Sheets-Sheet 5Filed Aug. 20, 1965 INVENTORS KENNETH 0. ADAMS BY and EDWARD H. KAY

WITNESS: WuhT United States Patent 3,352,263 AUTOMATIC APPARATUS FORSEWING MACHINES AND THE LIKE Kenneth D. Adams, Long Valley, and EdwardH. Kay, Stockholm, N.J., assignors to The Singer Company, New York,N.Y., a corporation of New Jersey Filed Aug. 20, 1965, Ser. No. 481,3147 Claims. (Cl. 112-2) ABSTRACT OFv THE DISCLOSURE This invention relatesin general to sewing machines and like apparatus, and in particular theinvention provides an improved form of the apparatus shown and describedin United States Patent No. 3,224,393, filed Sept. 11, 1963, andassigned to the instant assignee.

Generally, the function of the apparatus of United States Patent No.3,224,393 is to sew automatically a figure or seam into a work fabric orsimilar material. To serve as a reference for the figure or seam to besewn, a line sketch thereof is first made, whereby a servo-cooperatingsensor may be employed to scan continuously the sketch and therebyproduce an output error signal for positioning the work with respect tothe sewing point, and hence, cause the desired figure or seam to be sewninto the work. So long as the sketch presents no ambiguities to thescanning sensor, the prior system functions quite satisfactorily.However, when the sketch to be scanned presents the situation whereintwo different sketch lines, or different parts of the same line, may beseen by the sensor, positioning of the workbecomes erratio, withattendantly the figure or seam being sewn losing all semblance to thereference sketch.

To overcome this deficiency of the prior system, the invention providesfor the disabling of the sensor, and/ or 7 its cooperating servo, whenscanning in a sketch area of ambiguity, and provides instead (and atthat time) for programmed angular commands to the drive that positionsthe work into which the figure or seam is being sewn. At the completionof the turn command of the drive, the apparatus of the invention resumesoperation by means of the sensor-servo combination, using to fulladvantage the inherent lag of the servo to get the scanning sensor outof the sketch area of ambiguity, whereby the sewing machine can continueto sew the figure or seam in question.

Apart from the above, apparatus embodying the inven tion also includesmeans for preventing erratic position ing of the work material when, inthe course of scanning one line, the sensor sees a crossing line. Toassure that the sensor under such circumstance continue scanning onlyalong the line it is following, and not along the crossing line, thepresent invention provides in effect, for the blinding of the sensor inthe direction of the line along which scanning is undesired, and thisblinding is done during the time when the sensor is traversing theintersection of the two crossing lines.

A principal object of the invention is to provide improved apparatus forsewing figures and intricate seams into work material.

Another object of the invention is to provide sewing machine apparatusfor sewing figures and the like into work material, which apparatus maybe programmed to avoid erratic sewing of said figure or seam.

Another object of the invention is to provide apparatus having means forscanning a reference figure, and in response thereto for varying therelative position between a work support and a sewing machine, whichapparatus includes means for preventing an erroneous relativepositioning of said sewing machine and the work support when thereference figure is seen at more than one place during a given sweep ofsaid scanning means.

Another object of the invention is to provide sewing machine apparatusthat automatically sews a figure or seam into work material, whichfigure or seam has therefor a reference sketch scannable by means of asensor of said apparatus for relatively positioning the work materialand the sewing machine, and which apparatus also includes means forprogramming angular changes to the direction of relatively positioningsaid work material and said sewing machine.

Another object of the invention is to provide sewing machine apparatusthat automatically sews a figure or seam into work material, whichfigure or seam has therefor a reference sketch scannable by means of asensor of said apparatus for relatively positioning the work and thesewing machine, and which apparatus also includes means forsubstantially preventing changes to the direction of relativelypositioning said work material and said sewing machine when saidscanning sensor locates in the vicinity of the intersection of twocrossing lines of said sketch.

The invention will be described to the figures wherein:

FIGS. 1 and 2A, 2B are diagrams useful in describing a first feature ofthe invention,

FIG. 3 is a schematic diagram of a presently preferred form of theinvention,

FIG. 4 is a diagram useful in ture of the invention,

FIG. 5 is a plan view of the apparatus schematically shown in thediagram of FIG. 3,

FIG. 6 is a side elevational view of the apparatus of FIG. 5, which viewis taken along line 6-6 of FIG. 5,

FIG. 7 is a view showing details of the sensor section of the apparatusof FIG. 5,

FIG. 8 is a side elevational view taken along line 88 of FIG. 6,

FIG. 9 is a plan view of a programmer that may be employed with theapparatus of FIG. 4,

FIGS. 10 and 11 are sectional views taken respectively along lines 1010and 1111 of FIG. 9, and

FIG. 12 is a view, partially in section, of a portion of the apparatusof FIG. 9.

Referring to FIG. 1, trace A is a smooth curve representing a referencesketch that would present no problem to the above mentioned and brieflydescribed prior apparatus, such trace being here shown solely for thepurpose of indicating that the line B of sensor scanning with suchapparatus is effective to control figure or seam sewing so long as thedegree of curvature of the reference sketch (trace A) is relativelyslight. Consider, however, what happens with the above described priorapparatus when describing a second feascanning (trace B) a referencesketch as depicted by FIG. 2A, i.e. a sketch consisting for example ofseparate lines A and A that meet at a V-intersection. Here (see FIG. 2Bfor an enlargement of the area depicted within the circle C of FIG. 2A)the sensor during one scanning sweep, e.g. between locations D and Dsees both lines A and A", and hence does not know which of the two linesit is to follow, with attendantly the sensor erroneously following acourse depicted by the dashed line E as it hunts for the referencesketch, thereby causing the seam or figure sewing to become meaningless.To overcome this deficiency, the apparatus of the present inventionemploys the prior art program sensor (element 256 of United StatesPatent No. 3,224,393) to determine when the reference sketch has been sodriven in response to output signals from the scanning sensor that itsregion (C, FIG. 2A) of ambiguity lies in the view of the scanningsensor. Then, as briefly described earlier and as will now be moreelaborately discussed, programmed commands are made to the system to getits scanning sensor away from the troublesome area of the sketch.

Referring to FIG. 3, the apparatus of the invention provides a: surfaceonto which a reference sketch 12 (end view being shown) is inscribed, afriction plate 14, and a pair of clamps 16 for holding work material 18.The elements 10,14 and 16 are all linked, by a bridge 20, for theirsimultaneous positioning, which positioning is preferably in the planeof the friction plate 14. A sewing machine 22 is fixedly located withrespect to the positiona'ble work 18. Cooperating with the referencesketch 12 is an electro-optical sensor 24 that continuously scans (seedashed lines 26) the sketch to produce a displacement error signalhaving a sense dependent on whether its axis 27 is left or right of thesketch line 12. One such sensor useful in. this regard is the sensorshown employed in the apparatus of United States Patent No. 3,224,393(element 230.). The sensor 24 output signal is applied to a servoamplifier 28, and thence through a normally closed switch 30a to a servo32, which servo may employ a tachometer or other means for dampingpurposes. In response to an input signal, the servo 32 accordinglyorients the plane of rotation of a pair of drive wheels 34, 36, whichwheels are adapted to bear against the friction plate 14, and are eachrotatably supported in its own yoke member, respectively 38, 40. Thewheel 34 is power driven by a motor 42 adapted to be energized from asource E through a normally closed switch 300. Therefore, under normaloperation, the motor 42 works to move continuously the friction plate inthe plane thereof, and in so doing, it positions continuously the work18 with respect to the sewing machine 22, and the reference sketch 12with respect to the scanning sensor 24, all this occurring of coursewhile the sensor 24 keeps the direction of the wheels 34, 36 so orientedthat the sensor itself follows the sketch line 12. For programming theoperation of the apparatus of the invention, a non-scanningelectro-optical sensor 44, e.g. the sensor 256 of United States PatentNo. 3,224,393, cooperates with selectively located programming dots 46on the surface 10 to step an incremental drive 48 each time a dot 46 istraversed by the sensor 44. This operation will be described more fullylater. The incremental drive 48 mechanically couples to and physicallytransports a lamp 50 in step-wise fashion across the face of a programcard 52. Thus, so long as no programming dots 46 are sensed as thesensor 44 traverses the surface 10 in response to the servo-driveprovided by the sensor 24, the lamp 50 sits at one location with respectto the face of the card 52.

The program card 52 is punched with appropriately coded arrangements ofholes 54 which serve as conduits for light from the lamp 50 and ineffect present various timed commands to the sewing machine and thecontrol system that positions the work 18. The holes 54 relate toparticular channels 56 (a, b, 0, etc.) on the card 52 which, in turn,have respective cooperating photosensitive circuits 58 that are adaptedto receive the light from the lamp 50.

The photosensitive circuit 58a associated with the card channel 56aapplies its output signal to a relay energizing circuit 60, which thenactivates a self-holding relay 62. When actuated, the relay 62 opens thenormally-closed switches 30a and 30c (thereby disabling both thedirectiondetermining servo 32 and the power drive of the motor 42), andalso closes a normally-open switch 30b. On being closed, the switch 30benergizes a normally-disengaged electric slip clutch 66 and appliespower to a motor 64.. The rnotor 64 is preferably of a type thatabruptly brakes on interruption of its power input, and is capable ofbeing selectively driven in counterdirections. The input section of theclutch 66 is driven by the motor 64, and the clutch output sect-ion isconnected to orient the plane of rotation of the drive wheels 34, 36.

A pair of rheostats 68 and 70' (respectively for counterclockwise andclockwise angle commands) have counterrotatable wipers, respectively 72-and 73, which are driven by the motor 64 and cooperate with a bank ofselectable resistors 74 through a switch 76. Under normal operation,i.e. without the circuit 60' being energized to activate the relay 62,the wipers 72 and 73 of the rheostats are each respectively positionedfor maximum resistance being serially connected into the resistance bank74. The resistors of the bank 74 have respective magnitudes which arearranged according to a binary code, e.g. 2509, 50062, 10009, 2,0009,etc., whereby the range of resistance selection may be essentiallycontinuous.

As aforesaid, apparatus embodying the invention works to disable theservo drive initiated by the sensor 24 when such sensor is in an area ofsketch ambiguity, and in place thereof such apparatus programs angularcommands to the drive wheels 34, 36. Hence, when the sketch 12 has beenso traversed that the program sensor 44 sees a dot 46- in the area ofambiguity, the incremental drive 48 is stepped to shine light, forexample, through all holes in a. row R of the card 52. When thishappens, the photo sensitive circuit 58a gets enabled to cancel theservo and power drives of elements 32 and 42; also, the photosensitivecircuit 580 gets enabled to signal the sewing machine to cease sewing;and further, the photo-sensitive circuit 58d is enabled to apply asignal to a turn-directionselector (which may for example be a relay)that signals the motor 64 to turn from its normal counterclockwiserotation to one that is clockwise, and in addition removes the normallyconnected counterclockwise rheostat 68' from connection with theresistance bank 74, replacing same with the clockwise rheostat 70. Now,depending on which resistor-selection channels (560: through 56w) of rowR are energized, certain of the resistors 740: through 74w are seriallyconnected into a circuit with, in this case, the rheostat 70. In FIG. 3,by means of bold and dashed lines, it is shown that, under thecircumstance described, only resistors 740a and 74s are seriallyconnected with the rheostat 70.

A trigger circuit 82 adapted to fire and thereby produce a pulseoutputsignal When the combined resistance at itsinput falls below a referenceamount, i.e. an amount which is the maximum resistance that may be hadby one of the rheostats, applies such out-put pulse to the relay 62toreturn the switches 30a, b and c to their normal positions. Therefore,with a particular combination of resistors 74 connected serially withthe rheostat 70, the wiper 73 thereof must rotate clockwise through aparticular angle before the input resistance to the trigger circuit 82lowers to the reference amount to cause the trigger circuit to apply apulse to the relay 62. Hence, by suitably punching holes (channels 560:.through 56w) in the card, the plane of rotation of the drive wheels 34,36 may be rotated through any partciular amount and in either directionbefore power is removed from the clutch 66 by opening the switch 30b.

Referring again to FIG. 2b, consider relative movement of the scanningsensor 24 along the line A, and that the program sensor 44 has justtraversed the program dot 46. This causes, among other things, thestepping of' the incremental drive 48 and the disabling of the servo 32as the bridge 20 is brought to a halt with the sensor axis 27' alignedwith the apex point P of the reference sketch. Now the motor 64 orientsthe Wheels 34, 36 through an angle t (as determined by holes selectivelypunched in the card 52.). At the instant the angle 0 is.

reached, the wheels are properly oriented to drive the bridge 20, forrelative motion of the sensor 24 and the sketch 12, in the direction ofline A". Were it not for the fact that the wheels 34 and 36 begindriving the sketch 12 with respect to the scanning sensor 24 at theinstant normal operation is resumed, i.e. at the instant the triggercircuit 82 applies its output signal to the relay 62, and before thesensor-servo combination can realize that it is still in an area ofambiguity, the aforementioned problem would remain; however, by the timethe servo 32 can respond to ambiguous signals from the sensor 24, themotor 42 has so moved the sketch 12 that only unambiguous signals arereceived by the sensor 24. Hence, the sensor 24 traverses the line A"without problem.

So that each of the wipers 72 and 73 of the rheostats 68 and 70 willalways be at a respective neutral position prior to a programmed turn,means is provided with the apparatus embodying the instant invention forreturning the wipers to such positions, and this during the time afternormal operation is resumed. A disc 84, having a detent 86, has afollower lever 90 that is pivotally supported at an intermediate pointthereof; the lever is spring loaded so that its end 92 is normally urgedto reside in the detent 86. A relay or similar mechanism 94 is actuatedat the time the relay 62 is energized, whereby the lever 90 is rotatedabout its pivot point to close a normally open switch 96. When closed,the switch 96 applies power to the motor 64 whether or not the clutch 66is engaged. Therefore, once an angular orientation is started, the motor64 remains energized until the rheostat wipers are properly repositionedto their neutral positions, at which time the motor 64 is deactivated asthe lever end 92 falls into the detent 86. Thus it may be said that theclutch 66 serves a dual purpose, viz to prevent the motor 64 fromworking against the servo once normal operation has resumed and also tokeep movement of the drive wheels 34 and 36 from being reflected intothe rheostats.

Stated earlier is the fact that apparatus embodying the invention may bearranged so that its sensor is effectively blinded when approaching asketch area in which there are crossing lines. For this purpose, aprogramming dot 46A (see FIG. 4) is suitably situated on the sketchsurface 16, whereby the lamp 50 may get incrementally stepped toenergize a photo-sensitive circuit 58:2; in turn the circuit 582energizes a solenoid 100 that drives its armature 102 against the outputmember of the clutch 66 to prevent a change in the plane of rotation ofthe drive wheels 34, 36. This seizure of the clutch 66 output member isthen held until the next programming dot 46B is traversed by the sensor44. Hence, line following in FIG. 4 can only be along line xx, and notalong its crossing line y-y.

To assure easy understanding of the invention, the diagram of FIG. 3 hasbeen deliberately kept as simple as possible, but consistent withcompleteness. That is, while not shown it would be well within thepurview of the invention to command fast, intermediate and slow sewing;also, to command needle down or needle up, respectively for turn andstop situations; also, to provide automatic resumption of sewing uponcompletion of a turn, etc.

Referring now to FIGS. 5-12, the physical arrangement of the elements ofFIG. 3 will be discussed. The scanning sensor 24 is oriented to scanperpendicular to the sketch 12 by means of the servo 32, whichorientation is transferred, by means of pulley wheels 112 and a belt114, to the drive wheels 34 and 36 for proper positioning of the bridge20 with its elements 10, 14 and 18. A manually operable knob 110 havinga cooperating pulley wheel 116 is also coupled to the drive wheels 34,36 by means of a belt 118. The knob 110', as described in Patent No.3,224,393 is useful for initially setting up the machine for operation.The motor 64 couples to orient the drive wheels 34, 36 through theclutch 66 and the pulley 112- belt 114 combination. In addition, themotor 64 couples to the wipers of the rheostats 68, 70 (housed together)through gearing 120. The disc 84 having the detent 86 is supportedcoaxially with the clutch 66 input member, and the lever 90 is shownpivotable by means of a push rod 122 that is itself movable by means ofa spring loaded solenoid-type element 94. The switch 96 is directlyactuated as the push rod 122 moves up and down.

FIGS. 9-12 depict the physical layout for the programming portion of theinstant apparatus. Shown is a casing 129 for supporting therein a motor130 adapted to be energized by a signal from the program sensor 44. Onrotating its shaft 132, the motor drives a gear 134 that is coupled viaa chain 133 to a pair of gears 136 and 138. Each gear, 136 and 138, isfixedly secured to a shaft, respectively 140 and 142, and each suchshaft is provided with threads along its length. The shafts 140 and 142are rotatably supported in journal bearings 144 and 146 respectively,and screwably supported by and worm-driven along the lengths of theshafts 140 and 142 is a carriage 148. The carriage 148 supports the lamp50 and the plurality of photo-sensitive elements 58, one for eachchannel 56 on the program card 52, and the program card 52 is disposedto be inserted into the slot 150 between the lamp 50 and the underside152 of the carriage 148. The carriage underside 152 houses thephotosensitive elements 58 so that light from the lamp 50 may passthrough suitably punched holes 54 to energize selectively the elements58; these in turn electrically actuate circuit components 156 forapplication of appropriate signals to the pins of an output plug 158,wherefrom signals for the various required functions may be had.

To provide the incremental drive, a switch 160 cooperates with a cam 162driven by the motor 130. The cam is provided with a pair of detents 164and 166, and the switch 160 is electrically connected in parallel withthe program sensor 44 output to apply power to the motor 130.

When a programming signal starts to drive the motor 130, the switch 160closes as its follower rides out of a .detent, causing the motor 130to'continue to drive, even in the absence of a program signal from thesensor 44. At the instant the motor 130 hasdriven to a point where theswitch follower returns to a cam 162 detent, power gets interrupted.Hence, the drive of the programming section of theinvention is made tobe incremental in nature.

While the invention has been describedin this preferred embodiment, itis to be understood that the words which have been used are words ofdescription rather than of limitation and that changes within thepurview of the appended claims may be made without departing from thetrue scope and spirit of the invention in its broader aspects. Forexample, electronic switches could be easily employed in place of themechanical switches which have been shown; or, the technique describedcould be used to sew plural figures by means of plural sewing machines;also, a magnetic tape, drum or core memory could be used for programmingpurposes in place of the photosensitive de' vice shown employed by theinvention, etc.

Having thus described the nature of the invention, what we claim hereinis:

1. In combination, a sewing machine having a point of stitch formationand means for supporting and moving a work piece relative to the pointof stitch formation in a path defined by a pattern line conforming to adesired configuration, said means comprising a work support, means formounting said work support for universal movement relative to and in aplane containing the point of stitch formation, a pattern member mountedfor movement with said work support and having a pattern line, a tracermechanism for generating a varying electrical control signal in responseto the relative position of said tracer mechanism laterally of thepattern line, said tracer mechanism being of the type adapted to scan aline by sweeping to and fro substantially perpendicularly across saidline, means for producing a program signal, and means responsive to saidprogram signal for disabling :said tracer mechanism and for programmingdiscrete angular variations in the direction of moving said worksupport, said last named means including a normally disengaged clutchmeans, an auxiliary motor operable for altering the direction ofmovement of the pattern memher through said clutch means, means forenabling said clutch means when said tracer mechanism is disabled, andmeans for applying signals representing discrete angles to saidauxiliary motor.

2. In combination, a sewing machine having a point of stitch formationand means for supporting and moving a work piece relative to the pointof stitch formation in a path defined by a pattern line conforming to adesired configuration, said means comprising a work support, means formounting said work support for universal movement relative to and in aplane containing the point of stitch formation, a pattern member mountedfor move- :ment with said work support and having a pattern line, atracer mechanism for generating a varying electrical control signal inresponse to the relative position of said tracer mechanism laterally ofthe pattern line, said tracer mechanism being of the type adapted toscan a line by sweeping to and fro substantially perpendicularly acrosssaid line, means responsive to said control signal for moving said worksupport and said pattern member, means for enabling and disabling saidmeans responsive to said control signal, means for producing a programsignal, and means responsive to said program signal for angularlymodifying by discrete amounts the direction that said means responsiveto said control signal may move said work support when that means isdisabled, said last named means. including a normally disengaged clutchmeans, an auxiliary motor operable to alter the direction of movement ofsaid pattern member through said clutch means when said means responsiveto said control signal, is disabled, and means for use in applyingsignals representing discrete directional commands to said auxiliarymotor.

3., In combination, a sewing machine having a point of stitch formationand means for supporting and moving a work piece relative to the pointof stitch formation in a path defined by a pattern line conforming to adesired configuration, said means comprising a work support, means formounting said work support for universal movement relative to and inaplane containing the point of stitch formation, a tracer mechanism forgenerating a control signal in response to the relative position of saidtracer mechanism laterally of the pattern line, said tracer mechanismbeing of the type adapted to scan a line by sweeping to and frosubstantially perpendicularly across said line, means for impartinguniversal movement to said work support and for simultaneously effectingrelative movement between said tracer mechanism and the pattern linecomprising a drive wheel in driving relation with said work support andturnable about a steering axis normal to the plane of movement of saidwork support, means for imparting rotation to said drive wheel, andmeans responsive to the control signal for turning said drive wheelabout said steering axis to change the direction of the movement of thework support relative to the point of stitch formation and of therelative movement between the tracer mechanism and the pattern line,said work support having a drive plate engaged by said drive wheel,means for producing a program signal when said tracer mechanism scans inan area of ambiguity relative to said pattern line, means responsive tosaid program signal for disabling both said means for imparting rotationto said drive wheel and said means responsive to the control signal, andfor rotating said drive wheel about said steering axis through one ormore predetermined discrete angles, said last named means including anormally disengaged clutch, an auxiliary motor coupled to said steeringaxis through said clutch, means for engaging '3 said clutch when saidmeans for disabling both said means is operative, and means for applyingsignals representing discrete angles to said auxiliary motor.

4. Automatic control apparatus for use with sewing machines and likeapparatus comprising means for supporting work material at a referencepoint, means coupled to said last means for providing a master patternconsisting of lines thereon, servo means coupled to move said means forsupporting work material and said means for providing a master pattern,means for scanning said master pattern for producing an input to saidservo means, whereby said servo means in response to its input positionssaid means for supporting work material with respect to said referencepoint and said means for providing a master pattern with respect to saidscanning means, said scanning means being of the type that scans to andfro across a line of said pattern to produce an alternating signal theinstantaneous polarity of which is dependent on the side of said linethat said scanning means is scanning, means for producing a programsignal, programmed means responsive to said program signal for renderingsaid servo means unresponsive to the input from said scanning means andfor altering by a predetermined discrete amount the direction that saidservo means will move said means for supporting work material and saidmeans for providing a master pattern at the instant said servo meansagain becomes responsive to said input, said means responsive to saidprogram signal including an auxiliary motor and a normally disengagedclutch coupling said motor to alter the direction of movement of saidmeans for supporting work material, means for engaging said clutch, andmeans for applying discrete angle representative signals to saidauxiliary motor, and means for rendering said servo means responsive tosaid input after said predetermined alteration in direction has beeneffected.

5. Automatic control apparatus for use with sewing machines and likeapparatus comprising means for supporting work material at a referencepoint, means coupled to said last means for providing a master patternconsisting of. lines thereon, servo means coupled to move said means forsupporting work material and said means for providing a pattern, meansfor scanning said pattern for producing an input to said servo means,whereby said servo means in response to its input positions said meansfor supporting work material with respect to said reference point andsaid means for providing a pattern with respect to said scanning means,said scanning means being of the type that scans to and fro across aline of said pattern to produce an alternating signal the instantaneouspolarity of which is dependent on the side of said line that saidscanning means is scanning, means for produc ing a program signal, andprogrammed means responsive to said program signal for rendering saidservo means unresponsive to the input from said scanning means and forangularly fixing the direction that said servo means moves said meansfor supporting work material and said means for providing a pattern,said means responsive to said program signal including auxiliary means,a normally disengaged clutch coupling said auxiliary means to fix thedirection of movement of said means for supporting work material, andmeans for engaging said clutch.

6. Automatic control apparatus for sewing machines comprising means forsupporting work material, means having a master line figure of a patternto be sewn, a sensor for scanning said master line figure, said sensorbeing adapted to have its scanning axis aimed at a point on said masterline figure and being of a type that scans to and fro across the masterline figure, a servo for maintaining the scanning by said sensorperpendicular to the line of said master line figure at the point ofsaid master line figure to which said scanning axis is aimed, drivemeans for moving said work supporting means and said means having saidmaster line figure respectively with respect to said sewing machine andsaid sensor, means cooperating with said drive means for orienting thedirection of drive of that means simultaneously with the orienting ofsaid sensor, means on said figure for producing a program signal, andprogrammed means responsive to said program signal for interrupting theoperations of said servo and said drive means and, during saidinterruption, orienting said direction of drive through a predeterminedangle, said means responsive to said program signal including anauxiliary motor and a normally disengaged clutch coupling said motor toalter the direction of movement of said means for supporting workmaterial, means for engaging said clutch, and means for applyingdiscrete angle representative signals to said auxiliary motor.

7. Automatic control apparatus for sewing machines comprising means forsupporting work material, means having a master line figure of a patternto be sewn, a sensor for scanning said master line figure, said sensorbeing adapted to have its scanning axis aimed at a point on said masterline figure and being of a type that scans to and fro across the masterline figure, a servo for main taining the scanning by said sensorperpendicular to the line of said master line figure at the point ofsaid master line figure to which said scanning axis is aimed, drivemeans for moving said Work supporting means and said means having saidmaster line figure respectively with respect to said sewing machine andsaid sensor, means cooperating with said drive means for orienting thedirection of drive of that means simultaneously with the orienting ofsaid sensor, means for producing a trigger output signal when its inputsignal is of a certain magnitude, motor means for orienting saiddirection of drive through one or more predetermined angles, means forproducing a signal of variable magnitude representing the angle throughwhich said drive direction has been oriented, said variable signal beingapplied to said means for producing a trigger output signal, means forproducing a program signal, and switch means responsive to said programsignal for activating for said motor means and for disabling said servoand said drive means, said switch means being also responsive to saidtrigger output signal to deactivate said motor means and enable saidservo and said drive means.

References Cited UNITED STATES PATENTS 2,257,673 9/1941 Cook.

2,419,641 4/1947 Hart 31820.155 X 2,499,178 2/1950 Berry.

2,971,483 2/1961 Carclier 112-2 X 3,004,166 10/1961 Greene 318-20.155 X3,155,452 11/1964 Plankeel 250202 X 3,224,393 12/1965 Adams et a1. 1122PATRICK D. LAWSON, Primary Examiner. HERBERT F. ROSS, Examiner.

1. IN COMBINATION, A SEWING MACHINE HAVING A POINT OF STITCH FORMATIONAND MEANS FOR SUPPORTING AND MOVING A WORK PIECE RELATIVE TO THE POINTOF STITCH FORMATION IN A PATH DEFINED BY A PATTERN LINE CONFORMING TO ADESIRED CONFIGURATION, SAID MEANS COMPRISING A WORK SUPPORT MEANS FORMOUNTING SAID WORK SUPPORT FOR UNIVERSAL MOVEMENT RELATIVE TO AND IN APLANE CONTAINING THE POINT OF STITCH FORMATION, A PATTERN MEMBER MOUNTEDFOR MOVEMENT WITH SAID WORK SUPPORT AND HAVING A PATTERN LINE, A TRACERMECHANISM FOR GENERATING A VARYING ELECTRICAL CONTROL SIGNAL IN RESPONSETO THE RELATIVE POSITION OF SAID TRACER MECHANISM LATERALLY OF THEPATTERN LINE, SAID TRACER MECHANISM BEING OF THE TYPE ADAPTED TO SCAN ALINE BY SWEEPING TO AND FRO SUBSTANTIALLY PERPENDICULARLY ACROSS SAIDLINE, MEANS FOR PRODUCING A PROGRAM SIGNAL, AND MEANS RESPONSIVE TO SAIDPROGRAM SIGNAL FOR DISABLING SAID TRACER MECHANISM AND FOR PROGRAMMINGDISCRETE ANGULAR VARIATIONS IN THE DIRECTION OF MOVING SAID WORKSUPPORT, SAID LAST NAMED MEANS INCLUDING A NORMALLY DISENGAGED CLUTCHMEANS, AN AUXILIARY MOTOR OPERABLE FOR ALTERING THE DIRECTION OFMOVEMENTS OF THE PATTERN MEMBER THROUGH SAID CLUTCH MEANS, MEANS FORENABLING SAID